{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "{'cameraMatrix1': array([[1.55238153e+03, 0.00000000e+00, 1.16806481e+03],\n",
      "       [0.00000000e+00, 1.52163401e+03, 5.60313733e+02],\n",
      "       [0.00000000e+00, 0.00000000e+00, 1.00000000e+00]]), 'distCoeffs1': array([[ 0.09936712, -0.74202368, -0.00759485,  0.05200119,  1.19200647]]), 'cameraMatrix2': array([[1.55682751e+03, 0.00000000e+00, 1.11742101e+03],\n",
      "       [0.00000000e+00, 1.50859325e+03, 5.69525395e+02],\n",
      "       [0.00000000e+00, 0.00000000e+00, 1.00000000e+00]]), 'distCoeffs2': array([[ 0.06897523, -0.25380288, -0.00525755,  0.05599283,  0.26352608]]), 'R': array([[ 0.9999466 ,  0.00106399,  0.01027892],\n",
      "       [-0.00103843,  0.99999636, -0.00249189],\n",
      "       [-0.01028153,  0.00248108,  0.99994407]]), 'T': array([[-61.57897235],\n",
      "       [  0.23788712],\n",
      "       [-10.04864639]]), 'E': array([[-1.28806720e-02,  1.00492000e+01,  2.12833676e-01],\n",
      "       [-1.06812359e+01,  1.42090949e-01,  6.14722388e+01],\n",
      "       [-1.73928890e-01, -6.15790011e+01,  1.51002906e-01]]), 'F': array([[ 6.94045429e-09, -5.52419660e-06,  2.90914837e-03],\n",
      "       [ 5.93935418e-06, -8.06069313e-08, -5.99558022e-02],\n",
      "       [-3.24446632e-03,  5.89187802e-02,  1.00000000e+00]]), 'R1': array([[ 9.85234013e-01, -2.36297173e-03,  1.71196835e-01],\n",
      "       [ 2.56696158e-03,  9.99996235e-01, -9.70199187e-04],\n",
      "       [-1.71193898e-01,  1.39532894e-03,  9.85236369e-01]]), 'R2': array([[ 9.86938610e-01, -3.81266485e-03,  1.61051682e-01],\n",
      "       [ 3.62084152e-03,  9.99992343e-01,  1.48453811e-03],\n",
      "       [-1.61056109e-01, -8.82005361e-04,  9.86944858e-01]]), 'P1': array([[1.51511363e+03, 0.00000000e+00, 8.58950218e+02, 0.00000000e+00],\n",
      "       [0.00000000e+00, 1.51511363e+03, 5.57079327e+02, 0.00000000e+00],\n",
      "       [0.00000000e+00, 0.00000000e+00, 1.00000000e+00, 0.00000000e+00]]), 'P2': array([[ 1.51511363e+03,  0.00000000e+00,  8.58950218e+02,\n",
      "        -9.45338843e+04],\n",
      "       [ 0.00000000e+00,  1.51511363e+03,  5.57079327e+02,\n",
      "         0.00000000e+00],\n",
      "       [ 0.00000000e+00,  0.00000000e+00,  1.00000000e+00,\n",
      "         0.00000000e+00]]), 'Q': array([[ 1.00000000e+00,  0.00000000e+00,  0.00000000e+00,\n",
      "        -8.58950218e+02],\n",
      "       [ 0.00000000e+00,  1.00000000e+00,  0.00000000e+00,\n",
      "        -5.57079327e+02],\n",
      "       [ 0.00000000e+00,  0.00000000e+00,  0.00000000e+00,\n",
      "         1.51511363e+03],\n",
      "       [ 0.00000000e+00,  0.00000000e+00,  1.60272017e-02,\n",
      "        -0.00000000e+00]])}\n"
     ]
    }
   ],
   "source": [
    "import pickle\n",
    "\n",
    "# 加载 pkl 文件\n",
    "with open(r'E:\\University\\Junior_up\\twelfth_xing_huo_bei\\Volume_Measure\\Using Python\\Photograph_Data\\stereo_calibration_data.pkl', 'rb') as f:\n",
    "    data = pickle.load(f)\n",
    "\n",
    "# 打印数据内容\n",
    "print(data)\n"
   ]
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 3",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.12.7"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 2
}
